Research On Collision-Avoidance And Kinematic Of Six-DOF Manipulator

The design of algorithm of the manipulator used for steam generator(SG) repairing is presented. A manipulator with different repairing tools at the end effector, is set in the SG water station from man-port, which can carry out different repairing tasks.This dissertation is about some project, designing a manipulator used for the SG repairing, such as the repairing of the task - plugging pipes. The manipulator has six joints and eccentricity tools set in the end effector. This dissertation has mainly described kinematic solution, the inverse kinematic solution, Collision detection, Installation, and so on in the work and installation periods.Firstly the dissertation gives the theoretics support.And then, the kinematic solution, the inverse kinematic solution of the manipulator in the installation period is analyzed, which gives a method based on algebraic method is brought forward according to the special structure of the manipulator, with which we can solve the problem accurately and rapidly. The nonmonotonic trust region algorithm is used for the optimal question solution, this approach has not only the rapid convergence for Newton's method, but also the desirable overall convergence, make the course of solution more convenient and precise.Uniformity, the kinematic solution, the inverse kinematic solution of the manipulator in the work period is analyzed. The solution based on both algebra and geometry is respectively investigated. With a view to redundancy of manipulator in eccentricity tools, the text brings forward the method which is a combination of the algebra method and the optimized method. At the same time, it can ensure the algorithm accuracy and the character of real-time.Afterwards, This text as well studies the collision detection, which contains the collision between the arms , and arm and manhole in the work and installation periods. The text also puts the speediness into the consideration in order to adapt real-time application.At last, The algorithm this text mentioned have all checked up in the emulation method, and most of the method have been proved to be realizable in the real software platform for manipulator control, and have been applied in the real control of the manipulation Through the experiment of real control, the method mentioned in the text proves to be realizable and superiority.